Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations.

In this paper, we present the design, development and a practical use of an Autonomous Surface Vehicle (ASV) as a modular and flexible platform for a large variety of marine tasks including the coordination strategies with other marine robots. This work tackles the integration of an open-source Robot-Operating-System (ROS)-based control architecture that provides the ASV with a wide variety of navigation behaviors. These new ASV capabilities can be used to acquire useful data from the environment to survey, map, and characterize marine habitats. In addition, the ASV is used as a radio frequency relay point between an Autonomous Underwater Vehicle (AUV) and the ground station as well as to enhance the Acoustic Communication Link (ACL) with the AUV. In order to improve the quality of the ACL, a new Marine Multirobot System (MMRS) coordination strategy has been developed that aims to keep both vehicles close to each other. The entire system has been successfully designed, implemented, and tested in real marine environment robotic tasks. The experimental tests show satisfactory results both in ROS-based navigation architecture and the MMRS coordination strategy resulting in a significant improvement of the quality of the ACL.

Paleomagnetic techniques can date speleothems with high concentrations of detrital material.

The U-series dating of young and 'dirty' speleothems is challenging due to difficulties in assessing the isotopic composition of detrital contaminants and the low-abundance of 230Th generated in situ. Here we propose a new dating approach based on the comparison of a speleothem's paleomagnetic directions to reference curves from global paleomagnetic reconstructions. This approach is demonstrated on a stalagmite collected from the Soprador do Carvalho cave in the Central Region of Portugal. A radioisotopic age model, built using four U-series ages and three 14C, suggests relatively steady carbonate precipitation from ~ 5760 BCE until ~ 1920 CE. Forty-five 6 mm-thick subsamples were analyzed using alternating field and thermal demagnetization protocols, providing well-defined, primary magnetic directions. An age model of the stalagmite was obtained by fitting its paleomagnetic record with the reference paleosecular variation curves obtained by previous paleo-reconstruction models, applying statistical bootstrapping analysis to define their best fit. The resulting age models fit closely with the radioisotopic age model but provide a significantly higher time resolution. We reach the same conclusion when applying this approach to another stalagmite from the Algarve region of Portugal. Our approach thus appears a promising alternative to date young speleothems with high detrital contents.

Rapid light carbon releases and increased aridity linked to Karoo-Ferrar magmatism during the early Toarcian oceanic anoxic event.

Large-scale release of isotopically light carbon is responsible for the carbon isotope excursion (CIE) of the Toarcian Oceanic Anoxic Event during the Lower Jurassic. Proposed sources include methane hydrate dissociation, volcanogenic outgassing of carbon dioxide and/or thermogenic methane release from the Karoo-Ferrar magmatic province (southern Africa). Distinct small-scale shifts superimposed on the long-term CIE have been interpreted as rapid methane pulses linked to astronomically forced climate changes. In the Peniche reference section (Portugal), these small-scale shifts correspond to distinct brownish marly layers featuring markedly high mercury (Hg) and magnetic mineral concentration. Total organic carbon and Hg increase are uncorrelated, which suggests input of Hg into the atmosphere, possibly released after the intrusion of the Karoo-Ferrar sills into organic-rich sediments. Enhanced magnetic properties are associated with the presence of martite, washed-in oxidized magnetite, inferred to be due to increased aridity on the continental hinterland. This study provides strong evidence for a direct link between the Karoo-Ferrar magmatism, the carbon-isotope shifts and the resulting environmental changes.

Evaluating the impact of sewage discharges on the marine environment with a lightweight AUV.

Environmental studies that use small Autonomous Underwater Vehicles (AUVs) can survey wider and deeper areas, compared to traditional methods, at a reasonable cost. Thanks to the precise vehicle navigation systems, the data collected can be accurately geolocalized. Besides, lightweight vehicles can be deployed from the shore or from small boats and programmed by means of user-friendly graphical interfaces, thus reducing and simplifying the need of human resources and infrastructures. Based on such a technology, this paper presents a framework to assess the environmental impact of a marine sewage outfall set in the Bay of Palma (Mallorca, Spain). We report the results of the analysis of the images recorded in the course of six missions conducted with an AUV. The plan was designed after a microbiological analysis detected the presence of cyanobacteria in a sample of sand and water collected by scuba divers close to the sewer pipe mouth.

End-Cretaceous akaganéite as a mineral marker of Deccan volcanism in the sedimentary record.

An enigmatic chloride-rich iron (oxyhydr)oxide has been recently identified together with mercury anomalies in End-Cretaceous marine sediments coeval with the Deccan Traps eruptions. The mineral was observed in Bidart (France) and Gubbio (Italy), suggesting a widespread phenomenon. However, the exact nature and origin of this Cl-bearing mineral remained speculative. Here, we characterized the accurate composition and nanostructure of this chloride-rich phase by using micro-Raman spectroscopy, Transmission (TEM) and Scanning (SEM) Electron Microscopy on Focused Ion Beam foils. We also provide new evidence of its occurrence in Zumaia, a reference KPg section from Spain. Results confirm akaganéite (ß-FeOOH) as the main phase, with chloride content of 3-5 atomic weight %. Akaganéite particles are constituted by the aggregation of nanorods of akaganéite. Internal structures contain empty spaces, suggesting formation in a low-density (atmospheric) environment. This new mineralogical evidence supports the hypothesis that the observed akaganéite was formed in the Deccan volcanic plume and was transported to the Atlantic and Tethysian realms through the stratosphere. Therefore, akaganéite provides a potential new sedimentary marker to identify the imprint of the Deccan eruptions in the stratigraphic record and is evidence of volcanic halogen degassing and its potential role for the Cretaceous-Tertiary mass extinction.